CN110575359B - Limb rehabilitation exoskeleton and limb rehabilitation system - Google Patents

Limb rehabilitation exoskeleton and limb rehabilitation system Download PDF

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Publication number
CN110575359B
CN110575359B CN201910916215.0A CN201910916215A CN110575359B CN 110575359 B CN110575359 B CN 110575359B CN 201910916215 A CN201910916215 A CN 201910916215A CN 110575359 B CN110575359 B CN 110575359B
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support rod
power device
limb rehabilitation
transmission assembly
eccentric wheel
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CN110575359A (en
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谭高辉
马舜
韩小刚
徐博源
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Shenzhen Chwishay Smart Technology Co Ltd
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Shenzhen Chwishay Smart Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a limb rehabilitation exoskeleton and a limb rehabilitation system. The limb rehabilitation exoskeleton comprises: a first support bar; the second support rod is rotatably connected to the first support rod, and a first guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the transmission assembly is connected with the first supporting rod and the second supporting rod; the power device is arranged on the first support rod and is in transmission connection with the transmission assembly, and the power device drives the transmission assembly and drives the second support rod to rotate relative to the first support rod; and the rotation control mechanism is arranged on the transmission assembly, is electrically connected with the power device and is used for controlling the output power of the power device. The technical scheme of the invention can improve the output precision of the limb rehabilitation exoskeleton and ensure the stable output of the limb rehabilitation exoskeleton, thereby improving the rehabilitation effect.

Description

Limb rehabilitation exoskeleton and limb rehabilitation system
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a limb rehabilitation exoskeleton and a limb rehabilitation system.
Background
In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.
In clinical rehabilitation departments in the related art, most of the rehabilitation doctors manually help patients to perform corresponding rehabilitation actions. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in the acute stage, for example, effective switching between passive, active and impedance modes is performed, or the rehabilitation training in the related art is assisted by some machines to guide rehabilitation, but the motion track of the assisted machines in the related art is not smooth enough, so that a large error exists between the motion track of the limbs, and the rehabilitation effect is not ideal. And the output precision of the tail end of the auxiliary machinery is not high, and the output power is unstable.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a limb rehabilitation exoskeleton and a limb rehabilitation system, aiming at improving the output precision of the limb rehabilitation exoskeleton and ensuring the output stability of the limb rehabilitation exoskeleton, thereby improving the rehabilitation effect.
In order to achieve the above object, the present invention provides a limb rehabilitation exoskeleton, comprising: a first support bar; the second support rod is rotatably connected to the first support rod, and a first guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the transmission assembly is connected with the first supporting rod and the second supporting rod; the power device is arranged on the first support rod and is in transmission connection with the transmission assembly, and the power device drives the transmission assembly and drives the second support rod to rotate relative to the first support rod; and the rotation control mechanism is arranged on the transmission assembly, is electrically connected with the power device and is used for controlling the output power of the power device.
Optionally, the transmission assembly has two opposite ends, one end of the transmission assembly is in transmission connection with the output shaft of the power device, and the other end of the transmission assembly is in transmission connection with the second support rod; the rotation control mechanism comprises a torque sensor, the torque sensor is arranged at one end, facing the second supporting rod, of the transmission assembly and is electrically connected to the power device.
Optionally, the torque sensor includes an outer ring wheel and an inner ring elastic body, a connecting portion and an installation portion are formed on an outer edge of the inner ring elastic body, the connecting portion is connected to an inner surface of the outer ring wheel, the installation portion is connected to the second supporting rod, and the outer ring wheel is connected to the transmission assembly.
Optionally, the rotation control mechanism further includes an angle sensor, and the angle driver is disposed at one end of the transmission assembly facing the second support rod and electrically connected to the power device.
Optionally, the angle sensor is a rotation angle position sensor, and includes a magnetic part and a chip, the magnetic part is disposed on the transmission assembly, the chip is disposed on the first support rod and corresponds to the magnetic part, and the chip is electrically connected to the power device.
Optionally, the transmission assembly includes a first eccentric wheel disc, a second eccentric wheel disc and a connecting rod, two ends of the connecting rod are respectively rotatably connected with the first eccentric wheel disc and the second eccentric wheel disc, and the first eccentric wheel disc and the second eccentric wheel disc are both arranged on one side of the first supporting rod facing the power device and are respectively in transmission connection with the power device and the second supporting rod; the torque sensor is arranged on one side, facing the second supporting rod, of the second eccentric wheel disc and is connected to the second supporting rod; the magnetic part is arranged on one side, facing the first supporting rod, of the second eccentric wheel disc, and the chip corresponds to the magnetic part and is arranged on the first supporting rod.
Optionally, one side of the first supporting rod, which deviates from the second eccentric wheel disc, is provided with an installation shell, the chip is installed in the installation shell, and the magnetic part is arranged in the rotating shaft of the second eccentric wheel disc and penetrates through the first supporting rod and corresponds to the chip.
Optionally, the transmission assembly further comprises a transmission member, and the transmission member is fixedly connected to one side, opposite to the second eccentric disc, of the torque sensor; the end part, facing the second support rod, of the first support rod is provided with a rotating carrier, the rotating carrier and the first support rod are enclosed to form a transmission area, the rotating carrier is provided with an avoidance port communicated with the transmission area, the second eccentric turntable, the torque sensor and the transmission part are all accommodated in the transmission area, and the transmission part penetrates through the rotating carrier and is connected with the second support rod; one end of the connecting rod, which deviates from the first eccentric wheel disc, passes through the avoiding opening and is rotatably connected with the second eccentric wheel disc.
Optionally, the end of the first support rod facing away from the second support rod is further provided with a second guide wheel assembly.
The invention also provides a limb rehabilitation system, which comprises two groups of limb rehabilitation exoskeletons, wherein the two groups of limb rehabilitation exoskeletons are oppositely arranged; a limb rehabilitation exoskeleton comprising: a first support bar; the second support rod is rotatably connected to the first support rod, and a first guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod; the transmission assembly is connected with the first supporting rod and the second supporting rod; the power device is arranged on the first support rod and is in transmission connection with the transmission assembly, and the power device drives the transmission assembly and drives the second support rod to rotate relative to the first support rod; and the rotation control mechanism is arranged on the transmission assembly, is electrically connected with the power device and is used for controlling the output power of the power device.
According to the technical scheme, the first support rod and the second support rod are rotatably connected, the transmission assembly is connected to the first support rod and the second support rod, the power device is arranged on the first support rod and is connected with the transmission assembly, so that the power device is driven to drive the transmission assembly to rotate, and the transmission assembly can drive the second support rod to rotate relative to the first support rod. And, set up first guide pulley subassembly in the tip that the second bracing piece deviates from first bracing piece, when the second bracing piece rotates for first bracing piece like this, first guide pulley subassembly plays the guide effect to the rotation of second bracing piece. Meanwhile, the transmission assembly is provided with the rotation control mechanism, and the rotation control mechanism is electrically connected to the power device to control the output power of the power device, so that the output precision of the power device can be improved, the power device is ensured to have stable output power, and the output precision and the output stability of the limb rehabilitation exoskeleton are also improved.
Taking the limb rehabilitation exoskeleton to assist the lower limb rehabilitation of the patient as an example, after the first supporting rod is fixed with the thigh of the human body and the second supporting rod is fixed with the shank of the human body, the power device drives the second supporting rod to rotate relative to the first supporting rod through the transmission assembly so as to drive the lower limb to do flexion and extension movement. When the patient is doing rehabilitation training, generally be in the state of prone position or position of sitting, because be equipped with first guide pulley subassembly at the second bracing piece, so the second bracing piece is when moving, and first guide pulley subassembly contacts with the holding surface to relative holding surface rolls, can reduce the resistance of second bracing piece motion in-process like this, and then makes the motion of shank part more laminate the normal motion trail of limbs, guarantees that the human body moves along the direction of setting for. Meanwhile, the rotation control mechanism is arranged on the transmission assembly, so that the output power of the power device can be controlled to be stable, the output precision of the power device is improved, the rotating precision and stability of the second support rod relative to the first support rod are guaranteed, and the rehabilitation effect of the lower limbs of the patient is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a limb rehabilitation exoskeleton of the present invention;
fig. 2 is a partial structural schematic view of the limb rehabilitation exoskeleton in a stretching state;
fig. 3 is a partially exploded view of another perspective partial structure of the limb rehabilitation exoskeleton;
FIG. 4 is an exploded view of a portion of the structure of FIG. 3;
fig. 5 is a partial exploded view of a further perspective partial structure of the limb rehabilitation exoskeleton.
The reference numbers illustrate:
Figure BDA0002215344880000041
Figure BDA0002215344880000051
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a limb rehabilitation exoskeleton 100, which aims to facilitate the lower limb rehabilitation of a patient.
Referring to fig. 1 and 2, in an embodiment of extremity rehabilitation exoskeleton 100 of the present invention, extremity rehabilitation exoskeleton 100 includes: a first support bar 10; the second support rod 20 is rotatably connected to the first support rod 10, and a first guide wheel assembly 70 is arranged at the end of the second support rod 20, which is far away from the first support rod 10; the transmission assembly 40, the transmission assembly 40 connects the first support rod 10 and the second support rod 20; the power device 30 is arranged on the first support rod 10, is in transmission connection with the transmission assembly 40, and drives the transmission assembly 40 and drives the second support rod 20 to rotate relative to the first support rod 10 by the power device 30; and a rotation control mechanism 50, wherein the rotation control mechanism 50 is disposed on the transmission assembly 40 and electrically connected to the power device 30 for controlling the output power of the power device 30.
Specifically, the appearance of first bracing piece 10 and second bracing piece 20 all is roughly long rod-shaped, and its material generally adopts the metal material to guarantee the support stability of first bracing piece 10 and second bracing piece 20, thereby promote first bracing piece 10 and second bracing piece 20 practicality, reliability and durability. The power device 30 is mounted on the first support rod 10 by being fixed to the first support rod 10 by screws, wherein the power device 30 mainly provides a power source and mainly comprises a driving member 31, the driving member 31 is a motor, the motor is fixed to the first support rod 10 by a mounting member 33, i.e. the mounting member 33 is fixed to the support rod 10 by screws, and the motor is provided with the mounting member 33. The transmission assembly 40 is also disposed on a side of the first support rod 10 facing the rotary carrier 11, the transmission assembly 40 generally adopts a rack and pinion assembly, an eccentric wheel and connecting rod assembly, or other reasonable and effective transmission structure, one end of the transmission assembly 40 is connected to an output shaft of the motor in a transmission manner, and the other end is connected to the second support rod 20. Thus, the driving power device 30 can drive the transmission assembly 40 to rotate, and the transmission assembly 40 can drive the second support bar 20 to rotate relative to the first support bar 10. Moreover, the rotation control mechanism 50 is disposed on the transmission assembly 40, and the rotation control mechanism 50 is generally a sensor, such as a torque sensor 51 or an angle sensor 53, and is electrically connected to the power device 30 through a wire, so that the rotation control mechanism 50 will feed back a signal of detecting the rotation angle of the transmission assembly 40 to the power device 30, and the power device 30 will control the output power thereof to be constant after receiving the signal, that is, the output power of the extremity rehabilitation exoskeleton 100 of the present invention will be stable.
Therefore, it can be understood that, in the technical solution of the present invention, the first support rod 10 and the second support rod 20 are rotatably connected, the transmission assembly 40 is connected to the first support rod 10 and the second support rod 20, the power device 30 is disposed on the first support rod 10, and the power device 30 is in transmission connection with the transmission assembly 40, so that the transmission assembly 40 can be driven to rotate by driving the power device 30, and the second support rod 20 can be driven to rotate relative to the first support rod 10 by rotating the transmission assembly 40. In addition, the first guide wheel assembly 70 is disposed at an end of the second support rod 20 away from the first support rod 10, so that when the second support rod 20 rotates relative to the first support rod 10, the first guide wheel assembly 70 guides the rotation of the second support rod 20. Meanwhile, the rotation control mechanism 50 is arranged on the transmission assembly 40, and the rotation control mechanism 50 is electrically connected to the power device 30 to control the output power of the power device 30, so that the output precision of the power device 30 can be improved, the power device 30 is ensured to have stable output power, and the output precision and the output stability of the limb rehabilitation exoskeleton 100 are also improved.
Taking the limb rehabilitation exoskeleton 100 as an example for assisting the lower limb rehabilitation of a patient, after the first support rod 10 is fixed with a thigh of a human body and the second support rod 20 is fixed with a shank of the human body, the power device 30 drives the second support rod 20 to rotate relative to the first support rod 10 through the transmission assembly 40, so as to drive the lower limb to make flexion and extension movements. When the patient is doing rehabilitation training, generally in the state of prone position or sitting posture, because be equipped with first guide pulley subassembly 70 at second bracing piece 20, so second bracing piece 20 is when moving, first guide pulley subassembly 70 and holding surface contact to relative holding surface rolls, can reduce the resistance in the second bracing piece 20 motion process like this, and then makes the motion of shank part more laminate limbs normal motion orbit, guarantees that the human body moves along the direction of setting for. Meanwhile, the rotation control mechanism 50 is arranged on the transmission assembly 40, so that the output power of the power device 30 can be controlled to be stable, and the output precision of the power device 30 is improved, thereby ensuring the precision and stability of the rotation of the second support rod 20 relative to the first support rod 10 and improving the rehabilitation effect of the lower limbs of the patient.
It should be noted that the first guide wheel assembly 70 includes a connecting frame 73 and a first guide wheel 71, the connecting frame 73 is disposed at an end portion of the second support rod 20 away from the first support rod 10, the connecting frame 73 has a length direction, the length direction of the connecting frame 73 is an axial direction of the first guide wheel 71, and the first guide wheel 71 is rotatably disposed at a bottom or a side portion of the connecting frame 73. Alternatively, two first guide wheels 71 are provided, and the two first guide wheels 71 are rotatably provided at both sides of the connecting frame 73 in the length direction.
Further, the end of the first support bar 10 facing away from the second support bar 20 is also provided with a second guide wheel assembly 80. The second guide wheel assembly 80 can guide the movement of the first supporting rod 10 relative to the supporting surface, so that the resistance of the first supporting rod 10 in the movement process can be reduced, the movement of the thigh part is more fit with the normal movement track of the limb, and the rehabilitation effect is improved. Here, the second guide wheel assembly 80 includes a second guide wheel 81 and a rotating shaft (not shown), the rotating shaft is disposed at an end of the first support rod 10 departing from the second support rod 20, and the second guide wheel 81 is rotatably sleeved on the rotating shaft.
It can be understood that when the patient performs rehabilitation training by using the limb rehabilitation exoskeleton 100 of the present invention, the two first guide wheels 71 and the second guide wheel 81 form three-point support with the supporting surface, so as to ensure the stability and reliability of the patient's rehabilitation training process. Here, the connecting frame 73 is arranged to make the whole body of the limb rehabilitation exoskeleton 100 be arranged in a substantially T-shaped structure, and the structural arrangement is stable.
In an embodiment of the present invention, the transmission assembly 40 has two opposite ends, one end of the transmission assembly 40 is in transmission connection with the output shaft of the power device 30, and the other end is in transmission connection with the second support rod 20; the rotation control mechanism 50 includes a torque sensor 51, and the torque sensor 51 is disposed at an end of the transmission assembly 40 facing the second support rod 20 and electrically connected to the power device 30.
Specifically, the power device 30 is installed at one end of the first support rod 10 away from the second support rod 20, the transmission assembly 40 has a length direction and extends along the length direction of the first support rod 10, one end of the transmission assembly 40 is connected to an output shaft of the power device 30 in a transmission manner, and the other end of the transmission assembly 40 is connected to the second support rod 20, so that the power device 30 is driven to drive the transmission assembly 40 to rotate, and further the second support rod 20 is driven to rotate relative to the first support rod 10. The rotation control mechanism 50 is a torque sensor 51, the torque sensor 51 is mounted at an end of the transmission assembly 40 away from the power device 30, and the torque sensor 51 can rotate along with the transmission member 44 to detect the torsional moment of the second support rod 20 rotating relative to the first support rod 10, i.e. indirectly detect the rotation angle thereof, and convert the detected rotational moment into an electrical signal to be fed back to the power device 30 to control the output power of the power device 30 so that the output power thereof is kept constant. The torque sensor 51 may be a rotary torque sensor, a non-contact torque sensor, a strain gauge torque sensor, or other types of torque sensors, but is not limited thereto.
Referring to fig. 3 and 4, in an embodiment of the present invention, the torque sensor 51 includes an outer ring wheel 511 and an inner ring elastic body 513, a connecting portion 5131 and a mounting portion 5133 are formed at an outer edge of the inner ring elastic body 513, the connecting portion 5131 is connected to an inner surface of the outer ring wheel 511, the mounting portion 5133 is connected to the second support rod 20, and the outer ring wheel 511 is connected to the transmission assembly 40.
Specifically, the mounting portion 5133 is provided with a mounting hole 5133a for engaging a fastener to be fixedly connected with the second support rod 20. The outer ring wheel 511 is generally fixed to the transmission assembly 40 by screws, such that rotation of the transmission assembly 40 can drive the outer ring wheel 511 to rotate, and rotation of the outer ring wheel 511 can drive the inner ring elastic body 513 to rotate, thereby driving the second support rod 20 to rotate relative to the first support rod 10. It can be understood that the inner ring elastic body 513 can be torsionally deformed, so that the torsional moment of the second support rod 20 rotating relative to the first support rod 10 can be detected and fed back to the power device 30 to control the output power of the power device 30, so that the output of the extremity of the limb rehabilitation exoskeleton 100 can be kept constant and flexible, and the rehabilitation effect can be improved.
Further, in an embodiment of the present invention, the rotation control mechanism 50 further includes an angle sensor 53, and the angle sensor is disposed at an end of the transmission assembly 40 facing the second support bar 20 and electrically connected to the power device 30. Here, the angle sensor 53 is configured to detect the rotation angle of the transmission assembly 40, i.e. the rotation angle of the second support bar 20 relative to the first support bar 10, and feed back the rotation angle signal to the power device 30 for controlling the output power of the power device 30, so that the output of the extremity rehabilitation exoskeleton 100 is kept constant; meanwhile, the arrangement of the angle sensor 53 can further improve the output precision of the tail end of the limb rehabilitation exoskeleton 100, so that the rehabilitation effect is further improved. It should be noted that, here, the angle sensor 53 may be a rotary variable angle sensor, a magneto-electric angle sensor, or another type of angle sensor, which is not limited herein.
Referring to fig. 3 and 5, in an embodiment of the present invention, the angle sensor 53 is a rotation angle position sensor, and includes a magnetic member 531 and a chip 533, the magnetic member 531 is disposed on the transmission assembly 40, the chip 533 is disposed on the first supporting rod 10 and corresponds to the magnetic member 531, and the chip 533 is electrically connected to the power device 30. The rotational angle position sensor is one of the magnetoelectric angle sensors 53, in which the magnetic member 531 is a cylinder, and the N pole and the S pole are distributed along the radial direction thereof, provided at the end of the transmission assembly 40 facing away from the power unit 30, and rotated with the transmission assembly 40; the chip 533 is mounted on the first supporting rod 10 and is disposed corresponding to the magnetic member 531, so that the chip 533 can generate a magnetic field, the rotation angle of the chip 533 can be sensed by the rotation of the magnetic member 531 on the surface of the chip 533, and a signal of the rotation angle is fed back to the power device 30 for controlling the output power of the power device 30, so that the output of the end of the limb rehabilitation exoskeleton 100 can be kept constant. Optionally, the angle sensor 53 is a rotation angle position sensor of MLX90316 of the merchant.
Referring to fig. 2 and 3, in an embodiment of the present invention, the transmission assembly 40 includes a first eccentric wheel disc 41, a second eccentric wheel disc 42 and a connecting rod 43, two ends of the connecting rod 43 are respectively rotatably connected to the first eccentric wheel disc 41 and the second eccentric wheel disc 42, and the first eccentric wheel disc 41 and the second eccentric wheel disc 42 are both disposed on one side of the first supporting rod 10 facing the power device 30 and are respectively in transmission connection with the power device 30 and the second supporting rod 20; the torque sensor 51 is arranged on one side of the second eccentric wheel disc 42 facing the second supporting rod 20 and is connected to the second supporting rod 20; the magnetic member 531 is disposed on a side of the second eccentric wheel 42 facing the first support rod 10, and the chip 533 is disposed on the first support rod 10 corresponding to the magnetic member 531.
Specifically, the first eccentric wheel disc 41, the second eccentric wheel disc 42 and the connecting rod 431 are all made of metal materials through machining, so that the transmission assembly 40 can have good mechanical strength in the using process. The shape of first eccentric rim plate 41 and second eccentric rim plate 42 is discoid to rotate with first bracing piece 10 and second bracing piece 20 respectively through the pivot and be connected, the surface of first eccentric rim plate 41 and second eccentric rim plate 42 has connection protrusion 411, this connection protrusion 411 is cylindricly, and the centre of a circle position of deviating first eccentric rim plate 41 and second eccentric rim plate 42, the whole of connecting rod 431 is the stock form, connecting hole 431 has all been seted up at both ends. The second eccentric wheel disc 42 is arranged in the transmission interval, when the connecting rod 431 is assembled, one end of the connecting rod 431 is sleeved on the connecting boss 411 of the first eccentric wheel disc 41 through the connecting hole 431, the other end of the connecting rod 431 penetrates through the avoiding opening 111 and is sleeved on the connecting boss 411 of the second eccentric wheel disc 42 through the connecting hole 431, therefore, the first eccentric wheel disc 41, the second eccentric wheel disc 42 and the connecting rod 431 are combined to form a four-connecting-rod 431 mechanism in a plane, and according to the motion characteristic of the four-connecting-rod 431 mechanism, under the driving of the first eccentric wheel disc 41, the second supporting rod 20 connected with the second eccentric wheel disc 4242 can rotate relative to the first supporting rod 10. The torque sensor 51 is disposed between the second eccentric disc 42 and the second support rod 20, wherein the outer ring wheel 511 is fixed to the second eccentric disc 42 by a screw, and the mounting portion 5133 of the inner ring elastic body 513 is fixedly connected to the second support rod 20. The magnetic member 531 is disposed on a side of the second eccentric wheel opposite to the torque sensor 51, and is disposed corresponding to the chip 533. In this way, the rotation angle of the second support rod 20 relative to the first support rod 10 can be fed back through the torque sensor 51 and the angle sensor 53, so that the output power of the power device 30 can be controlled to be constant more effectively, the output precision of the limb rehabilitation exoskeleton 100 can be improved, and the rehabilitation effect can be improved.
In order to reduce the friction between the first eccentric disc 41 and the first support rod 10, a bearing 15 is generally provided, an inner ring of the bearing 15 is sleeved on the rotating shaft of the first eccentric disc 41, and an outer ring is fixed to the first support rod 10. Correspondingly, a bearing 15 is also provided between the second eccentric disk 42 and the first support rod 10 to reduce friction between the second eccentric disk 42 and the first support rod 10.
Further, one side of the first support rod 10 departing from the second eccentric wheel disc 42 is provided with an installation shell 13, the chip 533 is installed in the installation shell 13, and the magnetic member 531 is arranged on the rotating shaft of the second eccentric wheel disc 42 and penetrates through the first support rod 10 to correspond to the chip 533. Here, the mounting shell 13 is substantially in a circular shell shape, and is generally fixed to the side of the first supporting rod 10 facing away from the second eccentric wheel 42 by screws, and the chip 533 is fixedly mounted in the mounting shell 13 by screws, snaps, or other reasonably effective fixing methods. In order to ensure the installation stability of the installation shell 13, a fixing groove (not marked) matched with the outer edge size of the installation shell 13 is formed in the surface, facing the installation shell 13, of the first supporting rod 10, so that when the installation shell 13 is assembled, the outer edge of the installation shell 13 is clamped in the fixing groove, the installation shell 13 is fixed on the first supporting rod through screws, and the installation stability of the installation shell can be enhanced. The first supporting rod 10 is provided with a yielding through hole (not marked) corresponding to the chip 533, the rotating shaft of the second eccentric wheel disc 42 is accommodated in the yielding through hole, the bearing 15 is arranged in the yielding through hole, the inner ring of the bearing 15 is sleeved on the rotating shaft of the second eccentric wheel disc 42, the outer ring is fixedly connected to the hole wall of the yielding through hole, and the magnetic part 531 is arranged at the end part of the rotating shaft of the second eccentric wheel disc 42 and corresponds to the chip 533. This is achieved by detecting the rotation angle of the second support bar 20 relative to the first support bar 10 by the angle sensor 53, thereby controlling the output power of the power unit 30 to be constant.
Further, referring to fig. 4 again, the transmission assembly 40 further includes a transmission member 44, wherein the transmission member 44 is fixedly connected to a side of the torque sensor 51 opposite to the second eccentric disc 42; the end part of the first support rod 10 facing the second support rod 20 is provided with a rotating carrier 11, the rotating carrier 11 and the first support rod 10 enclose a transmission area, the rotating carrier 11 is provided with an avoiding opening 111 communicated with the transmission area, the second eccentric wheel disc 42, the torque sensor 51 and the transmission piece 44 are all accommodated in the transmission area, and the transmission piece 44 penetrates through the rotating carrier 11 and is connected with the second support rod 20; one end of the connecting rod 431 facing away from the first eccentric disk 41 passes through the avoidance opening 111 and is rotatably connected to the second eccentric disk 42. The transmission member 44 is substantially cylindrical and has a size substantially the same as that of the torque sensor 51, the transmission member 44 is disposed in a transmission area defined by the rotary carrier 11 and the first support rod 10, the rotary carrier 11 is provided with a through hole 113 communicating with the transmission area, one side of the transmission member 44 is fixedly connected to the mounting portion 5133 of the inner ring elastic body 513 of the torque sensor 51, and the other side of the transmission member 44 is connected to the second support rod 20 through the through hole 113. This is so that the transmission member 44 can drive the second support rod 20 to rotate relative to the first support rod 10 under the driving of the torque sensor 51.
Referring to fig. 2 again, in an embodiment of the present invention, the limb rehabilitation exoskeleton 100 further includes a bending connection member 60, the bending connection member 60 has two opposite ends, one end of the bending connection member 60 is connected to the exposed end of the transmission member 44 passing through the through hole 113, and the other end is connected to the second support bar 20, such that one side of the first support bar 10 and one side of the second support bar 20 facing away from the rotation carrier 11 are located on the same plane, and the bending connection member 60 is driven by the transmission member 44 to rotate and drive the second support bar 20 to rotate relative to the first support bar 10. The arrangement of the bending connecting piece 60 can ensure that when the patient uses the limb rehabilitation exoskeleton 100 to perform rehabilitation training, the thigh of the patient can be closely attached to the first supporting rod 10, and the shank can be closely attached to the second supporting rod 20, which is beneficial to improving the rehabilitation effect of the lower limb of the patient.
Referring to fig. 1 and 2 again, in order to facilitate the fixation of the thigh of the patient to the first support bar 10 and the shank of the patient to the second support bar 20, in an embodiment of the present invention, a fixing member 90 is disposed on the first support bar 10 and/or the second support bar 20, and specifically, the fixing members 90 may be disposed on the first support bar 10 and the second support bar 20, respectively, to ensure the stability of the fixation of the limb of the patient. More specifically, the fixing member 90 is provided on the upper side of the first support bar 10 and the second support bar 20, or the fixing member 90 is correspondingly provided on a plane parallel to the rotation direction of the first support bar 10 and the second support bar 20, so as to fix the leg in a lateral direction, so that the patient can be in a lying or sitting posture when using the limb rehabilitation exoskeleton 100. The connecting frame 73 is also provided with a fixing member 90 for fixing the ankle joint of the patient.
The present invention further provides a limb rehabilitation system, which includes two sets of limb rehabilitation exoskeletons 100 as described above, wherein the two sets of limb rehabilitation exoskeletons 100 are disposed opposite to each other, and the specific structure of the limb rehabilitation exoskeletons 100 refers to the foregoing embodiments. Since the limb rehabilitation system adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. A limb rehabilitation exoskeleton, comprising:
a first support bar;
the second support rod is rotatably connected to the first support rod, and a first guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod;
the transmission assembly is connected with the first supporting rod and the second supporting rod;
the power device is arranged on the first support rod and is in transmission connection with the transmission assembly, and the power device drives the transmission assembly and drives the second support rod to rotate relative to the first support rod; and
the rotation control mechanism is arranged on the transmission assembly, is electrically connected to the power device and is used for controlling the output power of the power device;
the rotation control mechanism comprises a torque sensor, the torque sensor comprises an outer ring wheel and an inner ring elastic body, a connecting part and an installation part are formed on the outer edge of the inner ring elastic body, one end of the connecting part, which is far away from the inner ring elastic body, extends to the inner surface of the outer ring wheel along the radial direction of the torque sensor, the installation part is connected to the second supporting rod, and the outer ring wheel is connected to the transmission assembly;
the transmission assembly is provided with two opposite ends and comprises a first eccentric wheel disc, a second eccentric wheel disc and a connecting rod, the two ends of the connecting rod are respectively and rotatably connected with the first eccentric wheel disc and the second eccentric wheel disc, and the first eccentric wheel disc and the second eccentric wheel disc are both arranged on one side of the first supporting rod, which faces the power device, and are respectively and drivingly connected with the power device and the second supporting rod;
the torque sensor is arranged on one side, facing the second supporting rod, of the second eccentric wheel disc, is connected to the second supporting rod and is electrically connected to the power device so as to detect the torsional moment of the second supporting rod relative to the first supporting rod.
2. The limb rehabilitation exoskeleton of claim 1 wherein said rotation control mechanism further comprises an angle sensor, and said angle actuator is disposed at an end of said transmission assembly facing said second support bar and electrically connected to said power device.
3. The limb rehabilitation exoskeleton of claim 2 wherein the angle sensor is a rotation angle position sensor, and comprises a magnetic member and a chip, wherein the magnetic member is disposed on the transmission assembly, the chip is disposed on the first support rod and corresponds to the magnetic member, and the chip is electrically connected to the power device.
4. The limb rehabilitation exoskeleton of claim 3 wherein said magnetic member is disposed on a side of said second eccentric wheel facing said first support bar, and said chip is disposed on said first support bar corresponding to said magnetic member.
5. The limb rehabilitation exoskeleton of claim 4 wherein a mounting shell is arranged on a side of the first support rod facing away from the second eccentric wheel, the chip is mounted in the mounting shell, and the magnetic member is arranged on a rotating shaft of the second eccentric wheel and penetrates through the first support rod to correspond to the chip.
6. The limb rehabilitation exoskeleton of claim 4 wherein said transmission assembly further comprises a transmission fixedly connected to a side of said torque sensor facing away from said second eccentric wheel;
the end part, facing the second support rod, of the first support rod is provided with a rotating carrier, the rotating carrier and the first support rod are enclosed to form a transmission area, the rotating carrier is provided with an avoidance port communicated with the transmission area, the second eccentric turntable, the torque sensor and the transmission part are all accommodated in the transmission area, and the transmission part penetrates through the rotating carrier and is connected with the second support rod; one end of the connecting rod, which deviates from the first eccentric wheel disc, passes through the avoiding opening and is rotatably connected with the second eccentric wheel disc.
7. The limb rehabilitation exoskeleton of any one of claims 1 to 6 wherein the end of the first support bar facing away from the second support bar is further provided with a second guide wheel assembly.
8. A limb rehabilitation system comprising two sets of limb rehabilitation exoskeletons as claimed in any one of claims 1 to 7, the two sets of limb rehabilitation exoskeletons being disposed in opposition.
CN201910916215.0A 2019-09-25 2019-09-25 Limb rehabilitation exoskeleton and limb rehabilitation system Active CN110575359B (en)

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